/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2025 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "motor.h"
#include "pid.h"
#include "robot_arm.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
Motor motor1;
Motor motor2;
Motor motor3;
Motor motor4;
remote_t remote;
joint_angle joint;
uint8_t data[11];
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */
   const remote_t *r = get_remote_control_point();
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  MX_TIM5_Init();
  MX_TIM6_Init();
  MX_TIM8_Init();
  MX_USART3_UART_Init();
  MX_TIM1_Init();
  MX_TIM4_Init();
  MX_USART2_UART_Init();
  /* USER CODE BEGIN 2 */
  HAL_UART_Receive_IT(&huart3, data, 11);
  HAL_UARTEx_ReceiveToIdle_DMA(&huart3, data, sizeof(data));
  HAL_TIM_Base_Start_IT(&htim6);
  /* USER CODE END 2 */

  /* Call init function for freertos objects (in cmsis_os2.c) */
  MX_FREERTOS_Init();

  /* Start scheduler */
  osKernelStart();

  /* We should never get here as control is now taken by the scheduler */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
  if (huart == &huart3)
  {
    uart_to_remote(data);
    HAL_UART_Receive_IT(&huart3, data, 11);
  }
}

void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
/*   if (huart == &huart3)
  {
    uart_to_remote(data);
    HAL_UARTEx_ReceiveToIdle_DMA(&huart3, data, sizeof(data));
  } */
  /* if (huart == &huart3)
  {
    uart_to_remote(data); // 处理接收数据
    // 清除可能的错误标志
    __HAL_UART_CLEAR_FLAG(huart, UART_FLAG_RXNE);
    __HAL_UART_CLEAR_FLAG(huart, UART_FLAG_IDLE);
    // 重启DMA接收（确保data缓冲区未被占用）
    if (HAL_UARTEx_ReceiveToIdle_DMA(&huart3, data, sizeof(data)) != HAL_OK)
    {
      // 处理启动失败（如重置DMA）
      HAL_UART_DMAStop(&huart3);
      HAL_UARTEx_ReceiveToIdle_DMA(&huart3, data, sizeof(data));
    }
  } */
  
  /* if (huart == &huart3)
  {
    memcpy(uart_buf, data, Size); // 快速拷贝
    uart_data_ready = 1;          // 置标志位
    HAL_UARTEx_ReceiveToIdle_DMA(&huart3, data, sizeof(data));
  } */
  
}
/* USER CODE END 4 */

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM7 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */
  if (htim == &htim6)
  {
    Motor_Encoder_Update(&motor1);
    Motor_Speed_Get(&motor1);
    Motor_Calc(&motor1);
    /*==========================================*/
    Motor_Encoder_Update(&motor2);
    Motor_Speed_Get(&motor2);
    Motor_Calc(&motor2);
    /*==========================================*/
    Motor_Encoder_Update(&motor3);
    Motor_Speed_Get(&motor3);
    Motor_Calc(&motor3);
    /*==========================================*/
    Motor_Encoder_Update(&motor4);
    Motor_Speed_Get(&motor4);
    Motor_Calc(&motor4);
    /*==========================================*/
  }
  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM7)
  {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */

  /* USER CODE END Callback 1 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
